#ifndef IMU_H
#define IMU_H


#include <I2Cdev.h>
#include <MPU6050.h>
#include "rgb_led.h"
#include"../common.h"

#define IMU_I2C_SDA 32 
#define IMU_I2C_SCL 33


class IMU
{
private:
	MPU6050 imu;
	
	int16_t ax, ay, az;
	int16_t gx, gy, gz;
	long  last_update_time;
	bool image_flag;
	Action action;

public:
	IMU();
	bool is_valid;
	Action update(int interval);

	int16_t getAccelX();
	int16_t getAccelY();
	int16_t getAccelZ();

	int16_t getGyroX();
	int16_t getGyroY();
	int16_t getGyroZ();

};

#endif
